Research
Research
Research
Research
39,379+ open-access research outputs.
Aerial manipulators undergo rapid, configuration-dependent changes in inertial coupling forces and aerodynamic forces, making accurate dynamics modeling a core challenge for reliable control. Analytic…
The dominant paradigm for Audio-Text Retrieval (ATR) relies on dual-encoder architectures optimized via mini-batch contrastive learning. However, restricting optimization to local in-batch samples cre…
This work deals with the problem of stabilizing a multi-agent rigid formation on a general class of planar curves. Namely, we seek to stabilize an equilateral polygonal formation on closed planar diff…
Connected and automated vehicles (CAVs) have the potential to enhance driving safety, for example by enabling safe vehicle following and more efficient traffic scheduling. For such future deployments,…
Ultra-wideband (UWB)-vision fusion localization has achieved extensive applications in the domain of multi-agent relative localization. The challenging matching problem between robots and visual detec…
Deep learning has achieved remarkable success in direction-of-arrival (DOA) estimation. However, recent studies have shown that adversarial perturbations can severely compromise the performance of suc…
In our work we implicitly suggest that it is a misconception to think that humans learn fast. The learning process takes time. Babies start learning to move in the restricted fluid environment of the …
With the advent of the 6G era, Integrated Sensing and Communications (ISAC) has attracted increasing attention. One representative of use cases is crowd flow estimation on outdoor streets. However, mo…
Adaptive mesh refinement is central to the efficient solution of partial differential equations (PDEs) via the finite element method (FEM). Classical $r$-adaptivity optimizes vertex positions but requ…
This paper tackles the problem of safe and efficient area coverage using a multi-agent system operating in environments with obstacles. Applications such as environmental monitoring and search and res…
Vision-and-Language Navigation (VLN) requires robots to follow natural language instructions and navigate complex environments without prior maps. While recent vision-language large models demonstrate…
This paper presents a reinforcement learning framework that incorporates a Contextual Reward Machine for task-oriented grasping. The Contextual Reward Machine reduces task complexity by decomposing gr…
This paper presents a hybrid model-AI framework for real-time dynamic security assessment of frequency stability in power systems. The proposed method rapidly estimates key frequency parameters under …
Accurate and efficient physical simulations are essential in science and engineering, yet traditional numerical solvers face significant challenges in computational cost when handling simulations acro…
Topology identification and inference of processes evolving over graphs arise in timely applications involving brain, transportation, financial, power, as well as social and information networks. This…
This paper studies the efficient implementation of safety filters that are designed using control barrier functions (CBFs), which minimally modify a nominal controller to render it safe with respect t…
Nonprehensile manipulation, such as pushing objects across cluttered environments, presents a challenging control problem due to complex contact dynamics and long-horizon planning requirements. In thi…
Contact-rich tasks pose significant challenges for robotic systems due to inherent uncertainty, complex dynamics, and the high risk of damage during interaction. Recent advances in learning-based cont…
Towards human-robot coexistence, socially aware navigation is significant for mobile robots. Yet existing studies on this area focus mainly on path efficiency and pedestrian collision avoidance, which…
High-fidelity simulation has become essential to the design and control of soft robots, where large geometric deformations and complex contact interactions challenge conventional modeling tools. Recen…
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